Finite Element Simulation of Pneumatic Soft Robots

Soft robots have numerous applications in medicine, particularly in surgery and rehabilitation. These robots are primarily made from flexible materials such as silicone, which are nearly incompressible. The complex geometry, nonlinear material behavior, and incompressibility of these robots make their analytical study challenging. Therefore, this research employs numerical solutions using the finite element method to model the mechanical behavior and structural response of such robots. Specifically, the focus of this study is on soft robots actuated and deformed by air pressure. Two categories of these robots are examined, and finite element analysis is utilized to simulate their dynamic behavior under large deformations, accounting for the effects of incompressibility. The accuracy of the results is validated through comparison with existing data.

کلیدواژه ها:

Soft robot ، Pneumatic ، Finite element ، hyperelastic